International Journal of Computer Engineering and Information Technology
VOL. 10, NO. 8, August 2018, 151–158
Available online at: www.ijceit.org
E-ISSN 2412-8856 (Online)
Bluetooth Activated Robotic Car
Emmanuel Gbenga Dada1, Abdulkadir Hammidu Alkali2, Dauda Elijah Mshelia3 and Abdul-Azeez Adam Zarma4
1, 2, 3, 4
Department of Computer Engineering, University of Maiduguri, Maiduguri, Borno State 60001, Nigeria
1
gbengadada@unimaid.edu.ng
ABSTRACT
There are several environmental conditions under which human
beings do not find conducive to work. In such circumstances,
without a considerable amount of safety precautions like in the
disposal of hazardous wastes, radioactive substances, remote
handling of explosive devices and righting and hostage situations
among others, work is impossible. So, there is a need for a
machine that will not be affected by these during the course of
carrying out the human-like tasks. A prototype of a robotic
vehicle for pick and place have been designed and implemented
in this study. Our proposed system works by using a Bluetooth
module for receiving the Bluetooth command being sent by the
operator. The method adopted in this study uses DC motor to
move the robotic vehicle to the appropriate direction using
commands. The robotic car will move in the appropriate
direction sent to him by the operator through the Bluetooth for
execution. Our evaluation of the system shows that the robotic
car for picking and placing small objects within a limited
distance performed according to specification. It thereby proves
that it will be useful in an environment that is hazardous to
human being.
Keywords: Robotic car, Bluetooth, Arduino Uno
Microcontroller, DC Motor, Arm Gripper.
1. INTRODUCTION
Robots are indispensable in many manufacturing
industries [1]. The reason is that the cost per hour to
operate a robot is a fraction of the cost of the human
labour needed to perform the same function [2]. Moreover,
once programmed, robots repeatedly perform functions
with a high accuracy that surpasses that of the most
experienced human operator. Human operators, however,
remain more versatile as reprogramming and parts
replacement may be required in order to alter the nature of
operation of robots when tasks change [3].
Robots were introduced due to development in the
technological world to help humans perform tasks or
assignments accurately, continuously and tirelessly in a
dangerous environment. Robots are classified into wheeled
and legged robots [4]. This study is based on a wheeled
robot that has the ability to detect and avoid obstacles with
the capability of snapping the environment via a camera.
Robots are machines and are of a wide range. The
common feature of robots is their capability to move. They
perform physical tasks. Robots have many different forms.
They range from industrial robots, whose appearance is
dictated by the function they are to perform. Or they can
be humanoid robots, which mimic the human movement
and our form [5]. These robots resemble humans in
behaviour, appearance, and/or cognition. Designing a
robot requires a working knowledge of mechanics,
electronics, and software [6].
According to [7], robots are used in different environments
and undertake different operations, examples are
surveillance, sampling, medical applications, assembly
operation, manufacturing, hazardous environments,
assisting disabled individuals, underwater, remote
locations, and space. Robots have the following
advantages; robots can work in hazardous environments
without the need of environmental comfort, robots can
process multiple stimuli or tasks simultaneously, robots
can work continuously without experiencing fatigue of
problem, robots can be much more accurate than human
[16]. Robots have the following disadvantages; robots lack
capability to respond in emergencies, robots, although
superior in certain senses, have limited capabilities in the
degree of freedom, dexterity, sensors, vision system, real-
time response. Robots are costly, due to the initial cost of
equipment, installation costs, need for peripherals, the
need for training, the need for programming [5] .
There are so many hazardous situations in day to day life.
There are so many occasions where the human cannot
work. In such situations, without a considerable amount of
safety precautions like in the disposal of hazardous wastes,
radioactive substances, remote handling of explosive
devices and righting and hostage situations among others,
work is impossible [8]. These robots can safely work in
hazardous conditions ensuring the human safety and
replacing massive human workforce [5]. Robots have also
found application in medical sciences, surgeries, military,
 International Journal of Computer Engineering and Information Technology (IJCEIT), Volume 10, Issue 08, August 2017
E. G. Dada et. al
supermarkets, and also in manufacturing industries.
Android is a new operating system which has now taken
center stage in many of our electronic devices and as such
is incorporated into this study [9]. There is also the need to
save cost, energy, and effort in such ventures as the
production environment, transportation, and other mission-
critical environments. Robotic technology will replace
manned systems as future solution to high cost production
and manufacturing systems and environmentally
unfriendly and risky jobs [10] [15].
The aim of these study is to design and implement an
Android-based voice-controlled robotic arm vehicle. The
objectives are firstly to design and fabricate an Android-
based voice-controlled robotic arm vehicle system capable
of moving in forward, backward, left and right directions
to a maximized distance. Secondly, the proposed system
must be able to execute arm and gripper actions such as
picking and placing objects of prescribed weights. Pick
and place is the task of satisfying some control objectives
subject to non-intersection or non-collision position in a
hazardous area or dangerous environment. The importance
of pick and place concept is as a result of the growing
usage of explosives and radioactive materials. Thirdly, to
design a robotic system that will save cost and tackle the
problem of man working in a risky work environment that
poses health challenges to human beings [11]. Android is a
new operating system which has now taken center stage in
many of our electronic devices and as such incorporated in
the study [2]. The self-directed robot has the ability to pick
and place objects of at least 50g weight. The robot can
move forward, backward, right, left and it arm can open,
close, up and down. Hence, this design is a sub-component
of a robot system that deals mainly with picking and
placing objects without consideration of other details of a
robot.
2. REVIEW OF RELATED WORKS
Many research on the design of robotic vehicle using
microcontroller have been reported in the literature.
Omijeh et al. [3] used an RF transmitter to control a
robotic vehicle. Their work used a robotic arm of five
degrees of freedom with its base resting directly on top of
the vehicle, a body having four drive wheels coupled to the
ends thereof. The wheels were selectively powered to
propel the vehicle. The design methodology involves the
hardware and software part. A prototype of the remote-
controlled pick and place robotic vehicle was built to
validate design specifications. The motion results obtained
were very satisfactory but due to the number of motors
clustered on the robotic arm, maximum weight carrying
capacity was affected by the weight of the motors. Another
drawback of their proposed system is that RF signals faced
disturbance from interference.
151
Ritika and Narender [12] used an android based on-screen
remote control application to operate a robotic vehicle.
Remote buttons in the Android app are the means by
which motion control of the robot is achieved while
android communication to the controller is interfaced via
Bluetooth using UART protocol. The robot was able to
move forward, backward, left and right side using the
android application. The device can be reprogrammed but
the absence of an appendage limits its application to
motion only.
Mohammed et al. [2] used a robotic arm vehicle with a
soft catching gripper which avoids extra pressure on the
object. The robotic vehicle was controlled by an android
application called blue control which had a graphical user
interface (GUI). The android application acts as a remote
transmitter having the advantage of adequate range, while
the receiver Bluetooth device is connected to the
microcontroller to drive D.C. motors via motor driver I.C.
for necessary operation. The microcontroller used was
Atmega328 and Arduino software used to program it. The
pick and place robot had four motors for the operation of
the system, two for the operation of moving vehicle having
a belt linking the wheels like in the tanks and two for the
pick and place operation. The maximum upward and
downward motion of the arm was limited by a mechanical
push-button type switch. The vehicle was able to move
along surfaces being smooth or rough in the direction of
forward, backward and left and right while able to carry a
maximum weight of 2kg. The device was however on-
screen remote controlled rather than voice controlled.
Bhuvaneshwari et al. [13] constructed a voice-controlled
robotic vehicle using 8051 microcontrollers. The two-
wheel robot powered by D.C. battery used an android
application called AMR Voice as the transmitter and an
HC-05 Bluetooth I.C. as the receiver. The robotic vehicle
was able to move forward, backward, left and right using
the voice commands or Bluetooth. The output of the
proposed system was not discussed in their write-up
neither was the performance of the system evaluated.
Russell and Norvig [14] proposed cooperative Robotics.
This has to do with the use of multiple robotics agents
assisting each other to perform a task that is either too
difficult or impossible for a single robot to perform alone.
The study presents a search-and-rescue algorithm, referred
to as SARA-1 that is designed to enable a team of
cooperative autonomous robots to search an area for a
stationary target. The robots use wireless communication
to build and share collective maps of the environment.
They attempt to spread out their cooperative search and
being careful not to explore the same area again. This
algorithm is pertinent to both indoor and outdoor
applications. The range of the applications is limited only
by the user's imagination and might include such tasks as
hazardous waste location and removal, planetary
 International Journal of Computer Engineering and Information Technology (IJCEIT), Volume 10, Issue 08, August 2017
E. G. Dada et. al
exploration, warehouse organization, and human search-
and-rescue.
3. MATERIALS AND METHODS
In this section, a detailed explanation of the various sub-
units of the system as seen in the block system diagram
below. It could easily be depicted that the system will
consist of two main sections i.e. hardware (which entails
the physical components of the system) and software
(which is the encoded computer instructions allowing
signal processing to be achieved). The block diagram is
shown below in figure 1.
Fig. 1. Block diagram of a Bluetooth Voice Activated Robotic car
As shown in figure 1, the power supply unit provides
energy to all other units of this study. The 5.5V DC supply
is required by the microcontroller, Bluetooth module, LCD
display unit and the motor driver unit. The main process of
this study is to activate a robotic car for pick and place
through a Bluetooth. The motor driver unit is being
controlled by the microcontroller based on condition. The
motor unit is responsible for moving the vehicle from one
place to the other.
The microcontroller has one input, the Bluetooth receiver
unit is used to receive a command from the android device,
this Bluetooth receiver has 4 pins, which are, VCC, TX,
RX and GND, the tx pin is connected to pin 2 of the
microcontroller and both the power and GND are
connected from the microcontroller. The microcontroller is
the brain of the circuit called the control unit, it has a
program that receives the voice command from the
Bluetooth transmit it to the appropriate unit for execution
and displays an output. The display unit is to display
information from the microcontroller. The DC motor is an
electric motor converting direct current electrical energy
into mechanical energy and it is connected to pin 9 on the
microcontroller. The two units (i.e. the vehicle driver unit
and the arm driver unit) are both connected to the
microcontroller. The vehicle driver unit is for the mobility
152
of the car to the destination being commanded to go and is
connected to pin 12 on the microcontroller. While the arm
driver unit is for the mobility of the arm and the execution
of the command being sent to the unit and is connected to
pin 16 of the microcontroller. The flowchart of the
proposed system is depicted in figure 2 below.
Fig. 2. Flowchart of the Bluetooth Voice Activated Robotic car
The flowchart shown above shows when the system is
powered on, it first checks and declares and initialize all
pins and ports to confirm that they are walking, after that
the next step is to scan for data (i.e. input), the next stage
will accept the data being send, the next step has two
options either the character is equal to forward, backward,
left or right then it went to the next stage to move the
appropriate direction and if it is not then it checks whether
the input is equal to up, down, open or close then it moves
the arm in an appropriate direction and then it terminates.
And if all the inputs are not equal to the appropriate input
it straight termination. The algorithm of the proposed
system is below.
Algorithm Listing 1:
STEP 1: Start
STEP 2: Initialize, declare port, pins and user functions
STEP 3: Enable serial communication (scan for data
transfer)
STEP 4: Data acquired
STEP 5: Is voice == forward, backward, left, right, up,
down, open, or close, if yes
 International Journal of Computer Engineering and Information Technology (IJCEIT), Volume 10, Issue 08, August 2017
E. G. Dada et. al
STEP 6: Move robotic vehicle in the appropriate direction,
or execute the corresponding action on the robotic arm
STEP 7: If there is no action then terminate
This system mainly consists of two parts namely: software
and hardware. The software part includes embedded
software for interfacing of various hardware components.
While the hardware part includes the hardware
components used in the study.
3.1 Software Section
3.1.1 Programming Language
The programming language used is Arduino which is a
simplified version and compatible with both C and C++
programs. The Arduino study provides the Arduino
Integrated development environment (IDE), which is a
cross-platform application written in Java programming
language. Applications include Ardupilot, Arduinome,
Arduinophone, D.C. motor control etc.
3.1.2 Android Application
Two applications (also apps) are necessary for the
operation of voice command recognition from an Android
device; "AMR Voice" app which is the main app through
which reception of voice commands from the user and
Bluetooth synchronism is achieved. "Google Voice
Search" app which is the supporting app having a library
English (or any chosen speech-language) words by which
a given command is understood and also translated into a
string of characters for transmission to the receiver for
necessary decoding.
3.1.3 Android Bluetooth Receiver
This device interfaces the given commands to the
controller. It is pre-configured as a slave Bluetooth device.
Once it is paired with a master Bluetooth device such as a
PC, and tablet, its operation becomes transparent to the
user. No user code specific to the Bluetooth module is
needed at all in the user microcontroller program. It has
two modes of operation namely;
 "AT (or Command)" mode; where it connected as a
master with the Arduino development board and then
to the computer system to enable changes in device
settings such as name of device, baud rate
specification (UART), the status of device etc.
 “Data Transfer” mode; where it is connected as a
slave configuration to the controller to receive
Bluetooth signals from an external source, decode into
appropriate translation and pass the instruction to the
controller for action.
153
3.1.4 Execution Program
In table 1 is a summary of the command instructions
written in the Arduino programming environment and
intended response for the system is displaced.
Table 1: Summary of Execution Program
Command Response of system
“Forward” The vehicle moves in the forward
direction
“Backward” The vehicle moves in the reverse
direction
“Left” The vehicle moves in the left direction
“Right” The vehicle moves in the right direction
“Up” The arm moves in the upward direction
“Down” The arm moves in the downward
direction
“Open” wrist opens
“Close” wrist closes
“Stop” System stops operating
3.2 Hardware Section
3.2.1 Power Supply
Almost all electronic components used in electronic circuit
need a DC source of power to operate. Some portable low-
power system batteries may be used, but their operating
period is limited. Thus, for long time operation, frequent
recharging or replacement of batteries become much
costlier and complicated. The ATMEGA328P has already
been designed to operate without the use of a transformer,
the system can be powered via the USB connection from
the computer or with an external power supply of 7 to 12V.
The external (non – USB) power can come either from an
AC – to – DC adapter or battery. The adapter can be
connected by plugging a 2.1mm center-positive plug into
the board's power jack. Leads from a battery can be
inserted in the GND and VIN pin headers of the power
connector. The board can operate on an external supply of
6 to 20 volts. If supplied with less than 7v, the 5v pin may
supply less than 5volts and the board may be unstable. If
using more than 12V, the voltage regulator may overheat
and damage the board. The recommended range is 7 to 12
volts.
3.3 Components
3.3.1 Arduino Uno Microcontroller (Atmega328p)
The Arduino Uno is a microcontroller board based on the
Atmega328P. It has 14 digital input/output pins (of which
6 can be used as PWM output), 6 analog inputs, a 16 MHz
crystal oscillator, a USB connection, a power jack, an
onboard voltage regulator, ICSP header, and a reset button
to power it with AC – to – DC adapter, it can be powered
using 9V battery to get started.
 International Journal of Computer Engineering and Information Technology (IJCEIT), Volume 10, Issue 08, August 2017
E. G. Dada et. al 154

The Atmega328P has 32 KB of flash memory for storing

code (of which 0.5 KB is used for the bootloader), it has
also 2 KB of SRAM and 1 KB of EEPROM which can be
read and written with the each of the 14 digital read
functions. They operate at 5 volts. Each pin can provide or
receive a maximum of 40 mA and has an internal pull – up
resistor (disconnected by default) of 20 – 50 KΩ. The
Atmega328 on the Arduino Uno comes pre-burned with a
bootloader that allows you to upload new code to it
without the use of an external hardware programmer.

3.3.3 DC Motor
A DC motor is an electrical machine that converts direct
current electrical power into mechanical power. The most
common types rely on the forces produced by magnetic Fig. 3. Mounting of Components on Bread Board
fields. Nearly all types of DC motors have some internal
mechanism, either electromagnetic or electronic to 3.3.7 Soldering of the Component
periodically change, the direction of current flow in part of
Some components were wired using jumper wires and
the motor. Most types produce rotary motion; a linear
some were interfaced using breadboard but the LCD was
motor directly produces force and motion in a straight line.
soldered on a Vero board. Precautions were taken in order
Current lighting power distribution systems. A DC motor's
to avoid damages to some active components. A low
speed can be controlled over a wide range, using either a
suitable temperature of soldering iron of 60w 25°c was
variable supply voltage or by changing the strength of the
used. At the end of the soldering process, the board was
current in its field windings. Small DC motors are used in
carefully examined in order to make sure that no parallel
tools, toys, and appliances. The universal motor can
line has been bridged during the soldering process as well
operate on direct current but is a lightweight motor used
as partial contact. This was achieved using a digital
for portable power tools and appliances. Larger DC motors
multimeter.
are used in the propulsion of electric vehicles, elevator,
and hoists, or in drives for steel rolling mills. The advent
3.3.8 Circuit Diagram
of power electronics has made replacement of DC motors
with AC motors possible in many applications. Here in In figure 4 below is the circuit diagram of the proposed
this study, the DC motor will be connected to pin 9 on the robotic vehicle.
microcontroller, when data is acquired, it will move the
vehicle in an appropriate direction. 5v
12V

16 8 U2
2 3
IN1 VSS VS OUT1
7 6

3.3.4 LCD Display 5V

1

9
IN2
EN1
OUT2

VEHICLE MOTOR DRIVE

EN2
RESET BUTTON 10 11
IN3 OUT3
15 14
IN4 GND GND OUT4

LCD (Liquid Crystal Display) screen is an electronic R1

10k
30
31
U1
PD0/RXD/PCINT16
PD1/TXD/PCINT17
PB0/ICP1/CLKO/PCINT0
PB1/OC1A/PCINT1
12
13
L293D

C1 32 14

display module and finds a wide range of applications. A 1

2
PD2/INT0/PCINT18
PD3/INT1/OC2B/PCINT19
PB2/SS/OC1B/PCINT2
PB3/MOSI/OC2A/PCINT3
15
16
1

PD4/T0/XCK/PCINT20 PB4/MISO/PCINT4
22pF 9 17
PD5/T1/OC0B/PCINT21 PB5/SCK/PCINT5
10 7 5v
PD6/AIN0/OC0A/PCINT22 PB6/TOSC1/XTAL1/PCINT6

16x2 LCD display is the very basic module and is very CRYSTAL
X1
11
PD7/AIN1/PCINT23 PB7/TOSC2/XTAL2/PCINT7
8 12V

U3
2

C2 20 23 16 8
AREF PC0/ADC0/PCINT8
18 24
AVCC PC1/ADC1/PCINT9
ARM MOVEMENT MOTOR DRIVE

commonly used in various devices and circuits. A 16x2

25 2 3
PC2/ADC2/PCINT10 IN1 VSS VS OUT1
22pF 19 26 7 6
ADC6 PC3/ADC3/PCINT11 IN2 OUT2
R5 R4
22
ADC7 PC4/ADC4/SDA/PCINT12
27 1
EN1
4.7k 4.7k 28
PC5/ADC5/SCL/PCINT13
29

LCD means it can display 16 characters per line and there ATMEGA328P
PC6/RESET/PCINT14

R6
9
10
15
EN2
IN3
IN4 GND
OUT3
GND OUT4
11
14

are 2 such lines. This LCD has two registers, namely, 5V

VCC
10k
5v
L293D

Command and Data. LCD display is used for displaying R3 TX

10

12
13
14
11
1
2
3

4
5
6

7
8
9

10k
RX ARM GRIPPER MOTOR DRIVE
R2
R7
VDD

D0
D1
D2
D3
D4
D5
D6
D7
VSS

VEE

RS

the message that is sent from a remote location.

RW

GND
10k 1k

BLUETOOTH RECEIVER LCD SCREEN DISPLAY

U5 LCD1 TR1 step-down transformer BR1

3.3.5 Mounting of Components on A Breadboard +
12V
1
7805

VI VO
3
LM016L

5V
rectifier bridge

OUTPUT
GND

240V ac 15V ac +12

The entire circuit was mounted on the breadboard, or C3 C2

2

100uF 2200uf
2W005G

- TRAN-2P2S -

through some of the components were connected directly DC source

POWER SUPPLY SECTION
AC source

to the microcontroller. Jumper was used for linking other

parts of the circuit that is not on the breadboard. Fig. 4. Complete system circuit diagram
Continuity test was carried out to ensure no partial
connection between components. Figure 3 below depicts
the mounted components on a breadboard.
 International Journal of Computer Engineering and Information Technology (IJCEIT), Volume 10, Issue 08, August 2017
E. G. Dada et. al 155

4. TEST, RESULTS, AND DISCUSSION
This section deals with the description of tests performed
on the various units of the system and as well the overall
system and their corresponding results. To achieve the
effective testing of these various components, the
following equipment was used. Android AMR voice
command App, Multi-meter, Tape(3.5M), Meter rule,
Tape rule, Protractor, Weighing scale (spring balance),
Weights (20g, 40g, & 50g) and Choke resistor (5W, 5.6Ω).
In figure 5 below is the picture of the constructed robotic
vehicle.
The voice command was tested for vehicle and arm
movements using the android AMR voice command app.
The system responded accordingly to all the commands as
seen in table 5 which summarised the commands and the
corresponding action of the system.
4.1.4 Bluetooth Range Test
Robotic vehicle Bluetooth receiver was synchronized to
the android transmitter Bluetooth at various ranges until
the maximum synchronizing range was obtained using a
tape rule. Maximum range obtained was 8.5-12m
depending on the location.

4.1.5 Maximum Weight Lift Test

Different weights were attached to the motor arm and
lifted automatically until the maximum weight it could lift
was determined using a spring balance. Maximum mass of
object lifted was 50g.

4.1.6 Maximum Lift Angle Test

The robotic arm was raised to the highest point and the
maximum angle the arm could raise the load due to the
jack rod length constraint (1.9cm) was measured using a
protractor. The maximum Arm lift angle obtained was 15⁰.
Tables 2, 3 and 4 represent the output voltage, output
current and weight of arm and object lifted respectively.
Fig. 5. The Robotic vehicle responding to the “UP” command by lifting Table 2: Output Voltage Summary
the object vertically
Parameter No-Load Full-Load Regulation (%)
Value (V) Value (V)
4.1 Tests
Tests were carried out on electrical and mechanical sub-
systems of the device as electrical sub-unit: No-load test, Rectified 4.95 4.83 2.42
Full-load test, Voice command test, Bluetooth range test, Output
Mechanical sub-unit, Maximum weight lift test, and Voltage
Maximum lift angle. (Vd.C.)

Table 3: Output Current Summary

4.1.1 No- Load Test
The regulated output voltage from the rectifier (VD.C. No-load) PARAMETER No Load Full-load REGULATION
was measured without attaching any load using a multi- Value (I) Value (I) (%)
meter. The voltage obtained was 4.9V. I N.L IF.L
IN.L – I F.L x 100
IN.L
4.1.2 Full Load Test
Rectified output 5.6 5.3 2.0
The regulated output voltage from rectifier (VD.C. full- load) Current (ID.C.)
was measured with load connected (i.e. choke resistor)
using a multi-meter. The voltage obtained was 4.76V.
4.1.3 Voice Command Test
 International Journal of Computer Engineering and Information Technology (IJCEIT), Volume 10, Issue 08, August 2017
E. G. Dada et. al 156

Table 4: Weight of Arm and Object Lifted

S/N Parameter Obtained Value Design Value (G) Deviation Accuracy

(G) (%) (%)

1 Mass Of Arm 100 50 100 50

2 Mass Of Object Lifted 50 200 -75 25
(Max)
3 Combined Mass Of Arm 150 250 -40 60
+ Object (Max)

Table 5: Summary of the Commands and Corresponding Action Obtained 4.2 Results and Discussion
from the System
As seen in the results obtained, for the output voltage
Command Vehicle Appendage
section, the voltage regulation is an indicator that the
proposed system has the ability to maintain near constant
voltage for varying load conditions. Hence smaller value
Right Left Arm Gripper of regulation shows that the device (in this case the
Motor Motor Motor Motor transformer) is good. Also, the voice commands were
Action Action Action Action successfully executed as programmed. Moreover, for the
“Forward” Rotate Rotate Off Off section that described the weight of arm and object lifted,
Clockwis Clockwis the intended maximum weight was 250g. However, due to
e e design variation during construction where the effort
“Backward Rotate Rotate Off Off
should have been applied vertically, it had to be applied at
” Anti- Anti-
approximately 45 degrees causing a change in resultant
Clockwis Clockwis
e e applied force as illustrated in figure 6 below.
“Left” Rotate Off Off Off
Clockwis
e
“Right” Off Rotate
Clockwis
e
“Up” Off Off Rotate Off
Clockwis
e
“Down” Off Off Rotate Off
Anti- Fig. 6. Actualized Robotic Arm
Clockwis
e The vertical force supplied by the effort is;
“Open” Off Off Off Rotate
Clockwis
(1)
e
“Close” Off Off Off Rotate Therefore, instead of lifting up to 250g max weight,
Anti-
Clockwis
e The maximum weight it could ideally lift is 176.77g.
“Stop” Off Off Off Off
Therefore, the obtained maximum weight of 150g lifted
gives it efficiency thus;
 International Journal of Computer Engineering and Information Technology (IJCEIT), Volume 10, Issue 08, August 2017
E. G. Dada et. al 157

Table 6: Summary of the Commands and Corresponding Action Obtained from the System

COMMAND VEHICLE APPENDAGE

RIGHT MOTOR LEFT MOTOR ARM GRIPPER

MOTOR MOTOR
Action Action Action Action
“Forward” Rotate Rotate clockwise Off Off
Clockwise
“Backward” Rotate Anti-clockwise Rotate Off Off
Anti-clockwise
“Left” Rotate clockwise Off Off Off
“Right” Off Rotate clockwise
“Up” Off Off Rotate Off
clockwise
“Down” Off Off Rotate Off
Anti-
clockwise
“Open” Off Off Off Rotate
clockwise
“Close” Off Off Off Rotate
Anti-
clockwise
“Stop” Off Off Off Off

4. CONCLUSIONS
This paper proposed a Bluetooth activated robotic car
using cheap, reliable and efficient components. The
voice-controlled robotic arm vehicle using android
combines both a robotic vehicle and a robotic arm
controlled by voice commands received via a
synchronized Bluetooth android phone providing
restricted access. The device is able to move to a location,
pick the desired object (within its carrying capacity) and
transfer it to the desired destination within its range. Due
to its flexibility in terms of application, in the future we
will incorporate the following to our design:
 A camera can be attached when used for remote or
high-risk operation in order to monitor its
surrounding on screen.
 A solar panel can be attached to the device in order to
recharge the D.C. battery thereby reducing energy
cost.
 Increase the weight it can carry for it to carry heavy
objects.
Increase the level of elevation of the robotic arm.
REFERENCES
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